A Class of Standard Mechanical System with Force Feedback in the port-Hamiltonian Framework
Authors
Mauricio Muñoz-Arias, Jacquelien M.A. Scherpen, Daniel A. Dirksz
Abstract
In this paper we show force feedback and position control of a class of standard mechanical system in the port-Hamiltonian framework. Furthermore, we show how to derive an extended port-Hamiltonian system with structure preservation which can be used for force feedback purposes besides providing the closed-loop system asymptotically stable. We also show the usefulness of the extended port-Hamiltonian system by showing its disturbance attenuation properties. Finally, we present simulation results obtained for the proposed control laws.
Keywords
port-Hamiltonian systems; force feedback; stability analysis; position control; mechanical systems.
Citation
- Journal: IFAC Proceedings Volumes
- Year: 2012
- Volume: 45
- Issue: 19
- Pages: 90–95
- Publisher: Elsevier BV
- DOI: 10.3182/20120829-3-it-4022.00038
- Note: 4th IFAC Workshop on Lagrangian and Hamiltonian Methods for Non Linear Control
BibTeX
@article{Mu_oz_Arias_2012,
title={{A Class of Standard Mechanical System with Force Feedback in the port-Hamiltonian Framework}},
volume={45},
ISSN={1474-6670},
DOI={10.3182/20120829-3-it-4022.00038},
number={19},
journal={IFAC Proceedings Volumes},
publisher={Elsevier BV},
author={Muñoz-Arias, Mauricio and Scherpen, Jacquelien M.A. and Dirksz, Daniel A.},
year={2012},
pages={90--95}
}
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